Abstract
Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.
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